Obstacle Avoidance and Tracking Control for a Quadrotor UAV with Unknown Bounded Disturbance
The obstacle avoidance and tracking control problem for a quadrotor UAV system with uncertain dis-turbances is investigated in this paper.Firstly,the sliding mode backstepping method was employed to design a nominal tracking controller to accomplish the tracking task of the quadrotor UAV,and by combining with hy-perbolic tangent functions,system chattering phenomenon was decreased.Secondly,a control barrier function was constructed to establish a set of safety controllers,which can ensure that controllers within the set can drive the system away from obstacles.Finally,the constraints of the control barrier function were combined with quad-ratic programming to seek a safety tracking controller with the minimum distance from the nominal tracking controller.The obtained safety tracking controller is capable of achieving obstacle avoidance while enabling the quadrotor to track the reference signal as closely as possible.The results of the simulation demonstrate that the UAV can effectively avoid the obstacle,quickly track reference signals,and reduce tracking errors to a suffi-ciently small range,which verify the effectiveness of the designed controller.
quadrotor UAVcontrol barrier functionquadratic programobstacle avoidancetracking control
万方数据
维普
